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<div class="header">
  <div class="headertitle"><div class="title">arm_pid_instance_q15 Struct Reference<div class="ingroups"><a class="el" href="group__group_controller.html">Controller Functions</a> &raquo; <a class="el" href="group___p_i_d.html">PID Motor Control</a></div></div></div>
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<p>Instance structure for the Q15 PID Control.  
 <a href="#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_inc_2arm__math_8h_source.html">arm_math.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 id="header-pub-attribs" class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:ad77f3a2823c7f96de42c92a3fbf3246b" id="r_ad77f3a2823c7f96de42c92a3fbf3246b"><td class="memItemLeft" align="right" valign="top">q15_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad77f3a2823c7f96de42c92a3fbf3246b">A0</a></td></tr>
<tr class="memitem:ad8ac5ff736c0e51180398c31f777f18a" id="r_ad8ac5ff736c0e51180398c31f777f18a"><td class="memItemLeft" align="right" valign="top">q15_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad8ac5ff736c0e51180398c31f777f18a">A1</a></td></tr>
<tr class="memitem:a33e8b4c2d3e24b8b494f6edca6a89c1b" id="r_a33e8b4c2d3e24b8b494f6edca6a89c1b"><td class="memItemLeft" align="right" valign="top">q15_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a33e8b4c2d3e24b8b494f6edca6a89c1b">A2</a></td></tr>
<tr class="memitem:a3c54b074a2a3d1bbc2fe2589fcc25231" id="r_a3c54b074a2a3d1bbc2fe2589fcc25231"><td class="memItemLeft" align="right" valign="top">q15_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a3c54b074a2a3d1bbc2fe2589fcc25231">state</a> [3]</td></tr>
<tr class="memitem:ad228aae24a1b6d855c93a8b9bbc1c4f1" id="r_ad228aae24a1b6d855c93a8b9bbc1c4f1"><td class="memItemLeft" align="right" valign="top">q15_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad228aae24a1b6d855c93a8b9bbc1c4f1">Kp</a></td></tr>
<tr class="memitem:a0dcc19d5c8f7bc401acea9e8318cd777" id="r_a0dcc19d5c8f7bc401acea9e8318cd777"><td class="memItemLeft" align="right" valign="top">q15_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a0dcc19d5c8f7bc401acea9e8318cd777">Ki</a></td></tr>
<tr class="memitem:af5d4b53091f19eff7536636b7cc43111" id="r_af5d4b53091f19eff7536636b7cc43111"><td class="memItemLeft" align="right" valign="top">q15_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#af5d4b53091f19eff7536636b7cc43111">Kd</a></td></tr>
</table>
<a name="details" id="details"></a><h2 id="header-details" class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Instance structure for the Q15 PID Control. </p>
</div><a name="doc-variable-members" id="doc-variable-members"></a><h2 id="header-doc-variable-members" class="groupheader">Member Data Documentation</h2>
<a id="ad77f3a2823c7f96de42c92a3fbf3246b" name="ad77f3a2823c7f96de42c92a3fbf3246b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad77f3a2823c7f96de42c92a3fbf3246b">&#9670;&#160;</a></span>A0</h2>

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          <td class="memname">q15_t arm_pid_instance_q15::A0</td>
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<p>The derived gain, A0 = Kp + Ki + Kd . </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ad8ac5ff736c0e51180398c31f777f18a">&#9670;&#160;</a></span>A1</h2>

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<p>The derived gain A1 = -Kp - 2Kd </p>

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<a id="a33e8b4c2d3e24b8b494f6edca6a89c1b" name="a33e8b4c2d3e24b8b494f6edca6a89c1b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a33e8b4c2d3e24b8b494f6edca6a89c1b">&#9670;&#160;</a></span>A2</h2>

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          <td class="memname">q15_t arm_pid_instance_q15::A2</td>
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<p>The derived gain A1 = Kd. </p>

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<a id="af5d4b53091f19eff7536636b7cc43111" name="af5d4b53091f19eff7536636b7cc43111"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af5d4b53091f19eff7536636b7cc43111">&#9670;&#160;</a></span>Kd</h2>

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          <td class="memname">q15_t arm_pid_instance_q15::Kd</td>
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<p>The derivative gain. </p>

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<a id="a0dcc19d5c8f7bc401acea9e8318cd777" name="a0dcc19d5c8f7bc401acea9e8318cd777"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0dcc19d5c8f7bc401acea9e8318cd777">&#9670;&#160;</a></span>Ki</h2>

<div class="memitem">
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          <td class="memname">q15_t arm_pid_instance_q15::Ki</td>
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<p>The integral gain. </p>

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<a id="ad228aae24a1b6d855c93a8b9bbc1c4f1" name="ad228aae24a1b6d855c93a8b9bbc1c4f1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad228aae24a1b6d855c93a8b9bbc1c4f1">&#9670;&#160;</a></span>Kp</h2>

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          <td class="memname">q15_t arm_pid_instance_q15::Kp</td>
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<p>The proportional gain. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a3c54b074a2a3d1bbc2fe2589fcc25231">&#9670;&#160;</a></span>state</h2>

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          <td class="memname">q15_t arm_pid_instance_q15::state</td>
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<p>The state array of length 3. </p>

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<hr/>The documentation for this struct was generated from the following files:<ul>
<li>C:/Users/ASUS/Desktop/dm-ctrlH7-balance-9025test/Middlewares/ST/ARM/DSP/Inc/<a class="el" href="_inc_2arm__math_8h_source.html">arm_math.h</a></li>
<li>C:/Users/ASUS/Desktop/dm-ctrlH7-balance-9025test/Middlewares/ST/ARM/DSP/Include/dsp/<a class="el" href="controller__functions_8h_source.html">controller_functions.h</a></li>
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